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   &#160;<span id="projectnumber">v0.1.0</span>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classPriorityTasks-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">PriorityTasks Class Reference</div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad2ab5b914b5af26a9f6dafa3c77bcd70"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a> (const char *name)</td></tr>
<tr class="memdesc:ad2ab5b914b5af26a9f6dafa3c77bcd70"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a task to taskLib  <a href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">More...</a><br /></td></tr>
<tr class="separator:ad2ab5b914b5af26a9f6dafa3c77bcd70"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a3ac349eeaae9f95e3f2efc25ece43a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a> (const std::string &amp;name)</td></tr>
<tr class="memdesc:a3a3ac349eeaae9f95e3f2efc25ece43a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the task id with the given name.  <a href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">More...</a><br /></td></tr>
<tr class="separator:a3a3ac349eeaae9f95e3f2efc25ece43a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f39ab665a89a89f5b90e95264a6ac1a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a6f39ab665a89a89f5b90e95264a6ac1a">getId</a> (const char *name)</td></tr>
<tr class="memdesc:a6f39ab665a89a89f5b90e95264a6ac1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the task id with the given name.  <a href="classPriorityTasks.html#a6f39ab665a89a89f5b90e95264a6ac1a">More...</a><br /></td></tr>
<tr class="separator:a6f39ab665a89a89f5b90e95264a6ac1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ce471672b0d7f93cc2ca457594e4695"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a7ce471672b0d7f93cc2ca457594e4695">buildPriority</a> (const std::vector&lt; std::string &gt; &amp;taskOrder)</td></tr>
<tr class="memdesc:a7ce471672b0d7f93cc2ca457594e4695"><td class="mdescLeft">&#160;</td><td class="mdescRight">setup the task priority  <a href="classPriorityTasks.html#a7ce471672b0d7f93cc2ca457594e4695">More...</a><br /></td></tr>
<tr class="separator:a7ce471672b0d7f93cc2ca457594e4695"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7d53e762bf5f6481aa8af522430b3a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#ae7d53e762bf5f6481aa8af522430b3a4">computeAll</a> (const Eigen::VectorXd &amp;des_delta_q, const Eigen::VectorXd &amp;des_dq, const Eigen::VectorXd &amp;des_ddq, const Eigen::MatrixXd &amp;dyn_M, const Eigen::MatrixXd &amp;dyn_M_inv, const Eigen::VectorXd &amp;dq)</td></tr>
<tr class="memdesc:ae7d53e762bf5f6481aa8af522430b3a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute desired delta_q, dq, ddq to execute the tasks  <a href="classPriorityTasks.html#ae7d53e762bf5f6481aa8af522430b3a4">More...</a><br /></td></tr>
<tr class="separator:ae7d53e762bf5f6481aa8af522430b3a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56696b9ae3f9e66780d7660311f1689a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a56696b9ae3f9e66780d7660311f1689a">printTaskInfo</a> ()</td></tr>
<tr class="memdesc:a56696b9ae3f9e66780d7660311f1689a"><td class="mdescLeft">&#160;</td><td class="mdescRight">print all the tasks names and their parent task id and child task id  <a href="classPriorityTasks.html#a56696b9ae3f9e66780d7660311f1689a">More...</a><br /></td></tr>
<tr class="separator:a56696b9ae3f9e66780d7660311f1689a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a91a9d5cd5b5dd9224c8ac75673b96e00"><td class="memItemLeft" align="right" valign="top"><a id="a91a9d5cd5b5dd9224c8ac75673b96e00"></a>
std::vector&lt; <a class="el" href="structTask.html">Task</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a></td></tr>
<tr class="memdesc:a91a9d5cd5b5dd9224c8ac75673b96e00"><td class="mdescLeft">&#160;</td><td class="mdescRight">task library, including all the tasks which should be considered <br /></td></tr>
<tr class="separator:a91a9d5cd5b5dd9224c8ac75673b96e00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae91eaee730a601061f4f89a24c6e1836"><td class="memItemLeft" align="right" valign="top"><a id="ae91eaee730a601061f4f89a24c6e1836"></a>
std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#ae91eaee730a601061f4f89a24c6e1836">nameList</a></td></tr>
<tr class="memdesc:ae91eaee730a601061f4f89a24c6e1836"><td class="mdescLeft">&#160;</td><td class="mdescRight">task names list, one to one in task library <br /></td></tr>
<tr class="separator:ae91eaee730a601061f4f89a24c6e1836"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac999a037ae8fe0b4f77acf3da58587ad"><td class="memItemLeft" align="right" valign="top"><a id="ac999a037ae8fe0b4f77acf3da58587ad"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#ac999a037ae8fe0b4f77acf3da58587ad">idList</a></td></tr>
<tr class="memdesc:ac999a037ae8fe0b4f77acf3da58587ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">task id list NO USE <br /></td></tr>
<tr class="separator:ac999a037ae8fe0b4f77acf3da58587ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79bdfa4a83aae2f3968b32c005f50423"><td class="memItemLeft" align="right" valign="top"><a id="a79bdfa4a83aae2f3968b32c005f50423"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a79bdfa4a83aae2f3968b32c005f50423">parentIdList</a></td></tr>
<tr class="memdesc:a79bdfa4a83aae2f3968b32c005f50423"><td class="mdescLeft">&#160;</td><td class="mdescRight">parent task id list NO USE <br /></td></tr>
<tr class="separator:a79bdfa4a83aae2f3968b32c005f50423"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a996beaefca8126343667cb80d5e0798b"><td class="memItemLeft" align="right" valign="top"><a id="a996beaefca8126343667cb80d5e0798b"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a996beaefca8126343667cb80d5e0798b">childIdList</a></td></tr>
<tr class="memdesc:a996beaefca8126343667cb80d5e0798b"><td class="mdescLeft">&#160;</td><td class="mdescRight">child task id list NO USE <br /></td></tr>
<tr class="separator:a996beaefca8126343667cb80d5e0798b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adae2ae0a7297db83c589f7b4d26cbe02"><td class="memItemLeft" align="right" valign="top"><a id="adae2ae0a7297db83c589f7b4d26cbe02"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#adae2ae0a7297db83c589f7b4d26cbe02">out_delta_q</a></td></tr>
<tr class="memdesc:adae2ae0a7297db83c589f7b4d26cbe02"><td class="mdescLeft">&#160;</td><td class="mdescRight">the final delta q calculated to execute tasks <br /></td></tr>
<tr class="separator:adae2ae0a7297db83c589f7b4d26cbe02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5400e52d0704615006046d3d8f0d028a"><td class="memItemLeft" align="right" valign="top"><a id="a5400e52d0704615006046d3d8f0d028a"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a5400e52d0704615006046d3d8f0d028a">out_dq</a></td></tr>
<tr class="memdesc:a5400e52d0704615006046d3d8f0d028a"><td class="mdescLeft">&#160;</td><td class="mdescRight">the final dq calculated to execute tasks <br /></td></tr>
<tr class="separator:a5400e52d0704615006046d3d8f0d028a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09f59b5e96992cea32ed2f6979b244c2"><td class="memItemLeft" align="right" valign="top"><a id="a09f59b5e96992cea32ed2f6979b244c2"></a>
Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a09f59b5e96992cea32ed2f6979b244c2">out_ddq</a></td></tr>
<tr class="memdesc:a09f59b5e96992cea32ed2f6979b244c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">the final ddq calculated to execute tasks <br /></td></tr>
<tr class="separator:a09f59b5e96992cea32ed2f6979b244c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a035d4efdf1035ca2f94c83721e5b68c7"><td class="memItemLeft" align="right" valign="top"><a id="a035d4efdf1035ca2f94c83721e5b68c7"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPriorityTasks.html#a035d4efdf1035ca2f94c83721e5b68c7">startId</a></td></tr>
<tr class="memdesc:a035d4efdf1035ca2f94c83721e5b68c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">the id of the task with highest priority <br /></td></tr>
<tr class="separator:a035d4efdf1035ca2f94c83721e5b68c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="priority__tasks_8h_source.html#l00048">48</a> of file <a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="ad2ab5b914b5af26a9f6dafa3c77bcd70"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad2ab5b914b5af26a9f6dafa3c77bcd70">&#9670;&nbsp;</a></span>addTask()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PriorityTasks::addTask </td>
          <td>(</td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>name</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>add a task to taskLib </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">name</td><td>task name </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00010">10</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00052">nameList</a>, and <a class="el" href="priority__tasks_8h_source.html#l00051">taskLib</a>.</p>

<p class="reference">Referenced by <a class="el" href="wbc__priority_8cpp_source.html#l00012">WBC_priority::WBC_priority()</a>.</p>

</div>
</div>
<a id="a7ce471672b0d7f93cc2ca457594e4695"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7ce471672b0d7f93cc2ca457594e4695">&#9670;&nbsp;</a></span>buildPriority()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PriorityTasks::buildPriority </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; std::string &gt; &amp;&#160;</td>
          <td class="paramname"><em>taskOrder</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>setup the task priority </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">taskOrder</td><td>the name vector of task from the highest priority to the lowest </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00035">35</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8cpp_source.html#l00016">getId()</a>, <a class="el" href="priority__tasks_8h_source.html#l00059">startId</a>, and <a class="el" href="priority__tasks_8h_source.html#l00051">taskLib</a>.</p>

<p class="reference">Referenced by <a class="el" href="wbc__priority_8cpp_source.html#l00012">WBC_priority::WBC_priority()</a>.</p>

</div>
</div>
<a id="ae7d53e762bf5f6481aa8af522430b3a4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7d53e762bf5f6481aa8af522430b3a4">&#9670;&nbsp;</a></span>computeAll()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void PriorityTasks::computeAll </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>des_delta_q</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>des_dq</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>des_ddq</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::MatrixXd &amp;&#160;</td>
          <td class="paramname"><em>dyn_M</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::MatrixXd &amp;&#160;</td>
          <td class="paramname"><em>dyn_M_inv</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::VectorXd &amp;&#160;</td>
          <td class="paramname"><em>dq</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>compute desired delta_q, dq, ddq to execute the tasks </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">des_delta_q[in]</td><td>desired delta_q to execute the tasks </td></tr>
    <tr><td class="paramname">des_dq[in]</td><td>desired dq to execute the tasks </td></tr>
    <tr><td class="paramname">des_ddq[in]</td><td>desired ddq to execute the tasks </td></tr>
    <tr><td class="paramname">dyn_M[in]</td><td>generalized mass matrix in dynamic equation of motion </td></tr>
    <tr><td class="paramname">dyn_M_inv[in]</td><td>inverse of generalized mass matrix </td></tr>
    <tr><td class="paramname">dq[in]</td><td>current dq(generalized velocity) of the robot</td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>Note</dt><dd>should setup task priority and update task info </dd></dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00066">66</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00058">out_ddq</a>, <a class="el" href="priority__tasks_8h_source.html#l00056">out_delta_q</a>, <a class="el" href="priority__tasks_8h_source.html#l00057">out_dq</a>, <a class="el" href="priority__tasks_8h_source.html#l00059">startId</a>, and <a class="el" href="priority__tasks_8h_source.html#l00051">taskLib</a>.</p>

<p class="reference">Referenced by <a class="el" href="wbc__priority_8cpp_source.html#l00287">WBC_priority::computeDdq()</a>.</p>

</div>
</div>
<a id="a6f39ab665a89a89f5b90e95264a6ac1a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6f39ab665a89a89f5b90e95264a6ac1a">&#9670;&nbsp;</a></span>getId() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int PriorityTasks::getId </td>
          <td>(</td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>name</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the task id with the given name. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">name</td><td>task name </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>int returns -1 if not find </dd></dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00025">25</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00052">nameList</a>.</p>

</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3a3ac349eeaae9f95e3f2efc25ece43a">&#9670;&nbsp;</a></span>getId() <span class="overload">[2/2]</span></h2>

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          <td class="memname">int PriorityTasks::getId </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>name</em></td><td>)</td>
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<p>Get the task id with the given name. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">name</td><td>task name </td></tr>
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  </dd>
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<dl class="section return"><dt>Returns</dt><dd>int returns -1 if not find </dd></dl>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00016">16</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00052">nameList</a>.</p>

<p class="reference">Referenced by <a class="el" href="priority__tasks_8cpp_source.html#l00035">buildPriority()</a>, and <a class="el" href="wbc__priority_8cpp_source.html#l00287">WBC_priority::computeDdq()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a56696b9ae3f9e66780d7660311f1689a">&#9670;&nbsp;</a></span>printTaskInfo()</h2>

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          <td class="memname">void PriorityTasks::printTaskInfo </td>
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<p>print all the tasks names and their parent task id and child task id </p>

<p class="definition">Definition at line <a class="el" href="priority__tasks_8cpp_source.html#l00057">57</a> of file <a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a>.</p>

<p class="reference">References <a class="el" href="priority__tasks_8h_source.html#l00051">taskLib</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="priority__tasks_8h_source.html">priority_tasks.h</a></li>
<li><a class="el" href="priority__tasks_8cpp_source.html">priority_tasks.cpp</a></li>
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